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Property, plant and equipment
12 Months Ended
Dec. 31, 2020
Property, Plant and Equipment [Abstract]  
Property, plant and equipment
9.    Property, plant and equipment
The following table presents the components of property, plant and equipment:
(in millions)
December 31,
20202019
Buildings and related improvements$359.2 $340.4 
Machinery, equipment and other376.3 344.3 
Software106.7 92.1 
Land47.1 45.8 
Assets not yet placed into service48.9 42.2 
Property, plant and equipment, gross938.2 864.8 
Accumulated depreciation(388.3)(307.8)
Property, plant and equipment, net$549.9 $557.0 
Depreciation expense was $87.9 million in 2020, $86.6 million in 2019 and $83.3 million in 2018.